发布求助
文献互助 智能选刊 最新文献

Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)最新文献

筛选
英文 中文
Path planning using lazy PRM 使用延迟PRM进行路径规划
Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) Pub Date : 2000-04-24 DOI: 10.1109/ROBOT.2000.844107
Robert Bohlin, L. Kavraki
{"title":"Path planning using lazy PRM","authors":"Robert Bohlin, L. Kavraki","doi":"10.1109/ROBOT.2000.844107","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.844107","url":null,"abstract":"Describes an approach to probabilistic roadmap planners (PRMs). The overall theme of the algorithm, called Lazy PRM, is to minimize the number of collision checks performed during planning and hence minimize the running time of the planner. Our algorithm builds a roadmap in the configuration space, whose nodes are the user-defined initial and goal configurations and a number of randomly generated nodes. Neighboring nodes are connected by edges representing paths between the nodes. In contrast with PRMs, our planner initially assumes that all nodes and edges in the roadmap are collision-free, and searches the roadmap at hand for a shortest path between the initial and the goal node. The nodes and edges along the path are then checked for collision. If a collision with the obstacles occurs, the corresponding nodes and edges are removed from the roadmap. Our planner either finds a new shortest path, or first updates the roadmap with new nodes and edges, and then searches for a shortest path. The above process is repeated until a collision-free path is returned. Lazy PRM is tailored to efficiently answer single planning queries, but can also be used for multiple queries. Experimental results presented in the paper show that our lazy method is very efficient in practice.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130395765","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 883
RRT-connect: An efficient approach to single-query path planning RRT-connect:单查询路径规划的有效方法
Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) Pub Date : 2000-04-24 DOI: 10.1109/ROBOT.2000.844730
J. Kuffner, S. LaValle
{"title":"RRT-connect: An efficient approach to single-query path planning","authors":"J. Kuffner, S. LaValle","doi":"10.1109/ROBOT.2000.844730","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.844730","url":null,"abstract":"A simple and efficient randomized algorithm is presented for solving single-query path planning problems in high-dimensional configuration spaces. The method works by incrementally building two rapidly-exploring random trees (RRTs) rooted at the start and the goal configurations. The trees each explore space around them and also advance towards each other through, the use of a simple greedy heuristic. Although originally designed to plan motions for a human arm (modeled as a 7-DOF kinematic chain) for the automatic graphic animation of collision-free grasping and manipulation tasks, the algorithm has been successfully applied to a variety of path planning problems. Computed examples include generating collision-free motions for rigid objects in 2D and 3D, and collision-free manipulation motions for a 6-DOF PUMA arm in a 3D workspace. Some basic theoretical analysis is also presented.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130474744","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3220
The kinematics for redundantly actuated omnidirectional mobile robots 冗余驱动全向移动机器人运动学
Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) Pub Date : 2000-04-24 DOI: 10.1109/ROBOT.2000.846402
B. Yi, W. Kim
{"title":"The kinematics for redundantly actuated omnidirectional mobile robots","authors":"B. Yi, W. Kim","doi":"10.1109/ROBOT.2000.846402","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.846402","url":null,"abstract":"Omnidirectional mobile robots have been popularly employed in several application areas. However, the kinematics for these systems have not been clearly identified, specially for the redundantly actuated case which is common in omnidirectional mobile robot such as Nomadic model. For such mobile robot systems, exploitation of redundant actuation as well as singularity analysis has not been extensively addressed. In light of this fact, this paper introduces two different kinematic approaches for omnidirectional mobile robots and examine singularity configurations of such systems. Then, a singular-free load distribution scheme for a redundantly actuated three-wheeled omnidirectional mobile robot is proposed. Through simulation, several advantages of the redundantly actuated mobile robot with respect to singularity avoidance and exploiting several sub-tasks, are presented.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134591250","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 96
Integration of range and image sensing for photo-realistic 3D modeling 距离和图像传感的集成，用于逼真的三维建模
Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) Pub Date : 2000-04-24 DOI: 10.1109/ROBOT.2000.844799
I. Stamos, P. Allen
{"title":"Integration of range and image sensing for photo-realistic 3D modeling","authors":"I. Stamos, P. Allen","doi":"10.1109/ROBOT.2000.844799","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.844799","url":null,"abstract":"The automated extraction of photo-realistic 3D models of the world that can be used in applications such as virtual reality, tele-presence, digital cinematography and urban planning, is the focus of this paper. The combination of range (dense depth estimates) and image sensing (color information) provides data-sets which allow us to create photo-realistic models of high quality. The challenges are the simplification of the 3D data set, the extraction of meaningful features in both the range and 2D images and the fusion of those data-sets using the extracted features. We address all these challenges and provide results on data we gathered in outdoor scenes by a range and image sensor based on a mobile robot. Our ultimate goal is an autonomous 3D model creation system which minimizes the amount of human interaction.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134174696","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 88
The planning and control of robot dextrous manipulation 机器人灵巧操作的规划与控制
Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) Pub Date : 2000-04-24 DOI: 10.1109/ROBOT.2000.844068
L. Han, Zexiang Li, J. Trinkle, Zhiqiang Qin, Shilong Jiang
{"title":"The planning and control of robot dextrous manipulation","authors":"L. Han, Zexiang Li, J. Trinkle, Zhiqiang Qin, Shilong Jiang","doi":"10.1109/ROBOT.2000.844068","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.844068","url":null,"abstract":"Dextrous manipulation is a fundamental problem in the study of multifingered robotic hands. Given a robotic hand and an object to be manipulated by the hand in an environment filled with obstacles, the main objectives of dextrous manipulation are to have the hand grasp the object and transfer it from a start configuration to a goal configuration without collision. To fulfill such a task in general, we will need: (a) a manipulation planner to generate a feasible path for the hand; and (b) a controller to implement the planned path. In this overview paper, we define the manipulation planning problem and present a unified control system architecture for multifingered manipulation (CoSAM/sup 2/). By incorporating the various kinematic and static relationships of a multifingered robotic hand system with proper sensory data inputs at different stages, CoSAM/sup 2/ achieves the various objectives of dextrous manipulation. Theoretical background of the control system design along with real-time experimental results are described.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130866152","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 19
Enhancing the flexibility of algebraic deadlock avoidance policies through Petri net structural analysis 通过Petri网结构分析提高代数死锁避免策略的灵活性
Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) Pub Date : 2000-04-24 DOI: 10.1109/ROBOT.2000.845237
Jonghun Park, S. Reveliotis
{"title":"Enhancing the flexibility of algebraic deadlock avoidance policies through Petri net structural analysis","authors":"Jonghun Park, S. Reveliotis","doi":"10.1109/ROBOT.2000.845237","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.845237","url":null,"abstract":"Deadlock avoidance in sequential resource allocation systems is a well-defined problem in discrete event system literature, as it underlies the operation of many contemporary technological systems. In the past, the problem has been studied by means of a number of formal frameworks, including the finite state automata (FSA) and Petri nets (PN). In this paper, it is shown that a significant class of deadlock avoidance policies (DAP), known as algebraic PK-DAP, originally developed in the FSA paradigm, can be analyzed using recent results from PN structural analysis. Furthermore, the approach to DAP analysis and design taken in this paper has led to the effective generalization of the currently available algebraic PK-DAP, and to their enrichment with new and more flexible policy implementations.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130725158","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 6
Force-based motion editing for locomotion tasks 用于运动任务的基于力的运动编辑
Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) Pub Date : 2000-04-24 DOI: 10.1109/ROBOT.2000.844128
N. Pollard, Fareed Behmaram-Mosavat
{"title":"Force-based motion editing for locomotion tasks","authors":"N. Pollard, Fareed Behmaram-Mosavat","doi":"10.1109/ROBOT.2000.844128","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.844128","url":null,"abstract":"This paper describes a fast technique for modifying motion sequences for complex articulated mechanisms in a way that preserves physical properties of the motion. This technique is relevant to the problem of teaching motion tasks by demonstration, because it allows a single example to be adapted to a range of situations. Motion may be obtained from any source, e.g., it may be captured from a human user. A model of applied forces is extracted from the motion data, and forces are scaled to achieve new goals. Each scaled force model is checked to ensure that frictional and kinematic constraints are maintained for a rigid body approximation of the character. Scale factors can be obtained in closed form, and constraints can be approximated analytically, making motion editing extremely fast. To demonstrate the effectiveness of this approach, we show that a variety of simulated jumps can be created by modifying a single key-framed jumping motion. We also scale a simulated running motion to a new character and to a range of new velocities.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130904721","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 39
A general control architecture for dynamic bipedal walking 动态双足行走的通用控制体系结构
Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) Pub Date : 2000-04-24 DOI: 10.1109/ROBOT.2000.845353
C. Chew, G. Pratt
{"title":"A general control architecture for dynamic bipedal walking","authors":"C. Chew, G. Pratt","doi":"10.1109/ROBOT.2000.845353","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.845353","url":null,"abstract":"We propose a general but simple bipedal walking control architecture that incorporates intuitive control and learning algorithms. The learning algorithm is mainly used to generate the key parameters for the swing leg. The intuitive control is used to maintain the height and body posture. Based on the proposed architecture, a control algorithm is constructed and applied to a planar biped and a 3D biped. By applying an appropriate local speed control mechanism, we demonstrate that the bipeds can successfully achieve walking of 100 seconds within a reasonable number of trials. No dynamic models or nominal joint trajectory data are required for the implementations.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"99 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132953522","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 28
On well-defined kinematic metric functions 在定义良好的运动度量函数上
Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) Pub Date : 2000-04-24 DOI: 10.1109/ROBOT.2000.844055
Q. Lin, J. Burdick
{"title":"On well-defined kinematic metric functions","authors":"Q. Lin, J. Burdick","doi":"10.1109/ROBOT.2000.844055","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.844055","url":null,"abstract":"This paper presents both formal as well as practical well-definedness conditions for kinematic metric functions. To formulate these conditions, we introduce an intrinsic definition of a rigid body's configuration space. Based on this definition, the principle of objectivity is introduced to derive a formal condition for well-definedness of kinematic metric functions, as well as to gain physical insight into left, right and bi-invariances on the Lie group SE(3). We then relate the abstract notion of objectivity to the more intuitive notion of frame-invariance, and show that frame-invariance can be used as a practical condition for determining objective functions. Examples demonstrate the utility of objectivity and frame-invariance.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"68 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133070322","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 7
Digital creatures for future entertainment robotics 未来娱乐机器人的数字生物
Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) Pub Date : 2000-04-24 DOI: 10.1109/ROBOT.2000.844149
M. Fujita
{"title":"Digital creatures for future entertainment robotics","authors":"M. Fujita","doi":"10.1109/ROBOT.2000.844149","DOIUrl":"https://doi.org/10.1109/ROBOT.2000.844149","url":null,"abstract":"The twenty first century will become an era of autonomous robots which are partners of human beings. Autonomous robots will help and support people in the future. We introduce AIBO, the first product model of robot entertainment systems. The main application of this robot is a pet-style robot, which must be lifelike in appearance. In addition to the pet-style robot issue, which is to promote and to present an example of robot entertainment application, we introduce OPEN-R, which is to accelerate the research and development of autonomous robots. Although AIBO is not a nursing robot, we believe the development of AIBO to be the first step of the era of autonomous robots in the twenty first century.","PeriodicalId":286422,"journal":{"name":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133338686","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 57
首页 上一页 下一页 尾页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：481959085
Book学术官方微信